Elmomc CANopen DS 301 Implementation Guide Uživatelský manuál stáhnout pdf (Strana 69)

 Entry description:

Sub-index 0

Description Number of error classes

Entry category Mandatory

Access Read only

PDO mapping No

Value range 1 to 0xFE

Default value 1

Sub-index 1

Description Communication error

Entry category Mandatory

Access Read/Write

PDO mapping No

Value range UNSIGNED8

Default value 1

Object 0x1200: SDO server parameter

This object is used to describe the SDO used on a device. The data type has the index 22h

in the object dictionary. The number of supported entries in the SDO object record is

specified by sub-index 0h. The values at 1h and 2h specify the COB-ID for this SDO.

Sub-index 3 gives the server of the SDO if the record describes an SDO for which the

device is a client, and it gives the client of the SDO if the record describes an SDO for

which the device is the server. The structure of the SDO COB-ID entry is as follows:

MSB LSB

Bits 31 30 29 28 - 11

10 - 0

11-bit ID 0/1 0 0

000000000000000000 11-bit identifier

29-bit ID 0/1 0 1

29-bit identifier

 Description of SDO COB-ID entry:

Bit Number Value Meaning

31 (MSB) 0

SDO exists / is valid

SDO does not exist / is invalid

30 0 Reserved (always 0)

29 0

11-bit ID (CAN 2.0A)

29-bit ID (CAN 2.0B)

28 - 11 0

If bit 29 = 0

If bit 29 = 1: bits 28 - 11 of 29-bit SDO COB-ID

10 - 0 (LSB) X Bits 10 - 0 of SDO COB-ID

CANopen DS 301 Implementation Guide Device-specific Objects

MAN-CAN301IG (Ver. 2.1)

12-18

1 2 ... 64 65 66 67 68 69 70 71 72 73 74 ... 117 118

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